refactor(runtime): reuse rollout context and remove dead code

tests/runtime/test_adapter.py

@@ -1,5 +1,10 @@
 from lerobot.runtime import RuntimeState
-from lerobot.runtime.adapter import BaseLanguageAdapter, GenerationConfig, looks_like_gibberish
+from lerobot.runtime.adapter import (
+    BaseLanguageAdapter,
+    DirectTaskPolicyAdapter,
+    GenerationConfig,
+    looks_like_gibberish,
+)
 
 
 class ScriptedAdapter(BaseLanguageAdapter):
@@ -72,3 +77,22 @@ def test_looks_like_gibberish_basic():
     assert looks_like_gibberish("")
     assert looks_like_gibberish(":::: ::")
     assert not looks_like_gibberish("pick up the red cube")
+
+
+def test_direct_task_adapter_delegates_action_chunk():
+    class Policy:
+        def predict_action_chunk(self, observation):
+            return ("chunk", observation)
+
+    observation = {"task": "pick up the cube"}
+    adapter = DirectTaskPolicyAdapter(Policy())
+
+    assert adapter.select_action(observation, RuntimeState()) == ("chunk", observation)
+    assert adapter.generate_text("subtask", observation, RuntimeState()) == ""
+
+
+def test_flat_policy_registry_reuses_direct_task_adapter():
+    from lerobot.runtime.registry import get_language_adapter_factory
+
+    assert get_language_adapter_factory("pi05") is DirectTaskPolicyAdapter
+    assert get_language_adapter_factory("molmoact2") is DirectTaskPolicyAdapter

tests/runtime/test_cli.py

@@ -0,0 +1,55 @@
+from types import SimpleNamespace
+from unittest.mock import MagicMock
+
+import torch
+
+from lerobot.runtime.cli import _build_rollout_runtime_io, _parse_args
+
+
+def test_parse_args_preserves_rollout_robot_overrides():
+    args = _parse_args(
+        [
+            "--policy.path=checkpoint",
+            "--robot.type=so101_follower",
+            "--robot.calibration_dir=/tmp/calibration",
+        ]
+    )
+
+    assert args.robot_type == "so101_follower"
+    assert "--robot.calibration_dir=/tmp/calibration" in args.raw_argv
+
+
+def test_rollout_runtime_io_uses_context_processors():
+    robot = MagicMock()
+    robot.robot_type = "mock_robot"
+    robot.cameras = {}
+    robot.get_observation.return_value = {"joint.pos": 1.5}
+    ctx = SimpleNamespace(
+        hardware=SimpleNamespace(robot_wrapper=robot),
+        runtime=SimpleNamespace(cfg=SimpleNamespace(device="cpu")),
+        processors=SimpleNamespace(
+            robot_observation_processor=lambda observation: observation,
+            robot_action_processor=lambda pair: pair[0],
+        ),
+        policy=SimpleNamespace(
+            preprocessor=lambda observation: observation,
+            postprocessor=lambda action: action,
+        ),
+        data=SimpleNamespace(
+            dataset_features={
+                "observation.state": {
+                    "dtype": "float32",
+                    "shape": (1,),
+                    "names": ["joint.pos"],
+                },
+                "action": {"dtype": "float32", "shape": (1,), "names": ["joint.pos"]},
+            }
+        ),
+    )
+    provider, executor = _build_rollout_runtime_io(ctx, rerun_log=False, get_task=lambda: "move")
+
+    observation = provider()
+    executor(torch.tensor([[2.0]]))
+
+    assert observation["observation.state"].shape == (1, 1)
+    robot.send_action.assert_called_once_with({"joint.pos": 2.0})

tests/runtime/test_sim_robocasa.py

@@ -3,7 +3,7 @@ from types import SimpleNamespace
 
 import numpy as np
 
-from lerobot.runtime.sim_robocasa import _overlay_text
+from lerobot.utils.video_annotation import annotate_frame
 
 
 def test_overlay_draws_each_label_once(monkeypatch):
@@ -33,7 +33,10 @@ def test_overlay_draws_each_label_once(monkeypatch):
     monkeypatch.setitem(sys.modules, "cv2", fake_cv2)
 
     frame = np.full((120, 480, 3), 200, dtype=np.uint8)
-    annotated = _overlay_text(frame, "close the fridge", "reach for the handle", None)
+    annotated = annotate_frame(
+        frame,
+        (("Task", "close the fridge"), ("Subtask", "reach for the handle"), ("Memory", None)),
+    )
 
     assert [call[0] for call in put_text_calls] == [
         "Task: close the fridge",